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Currently, the scientific and educational center of the "Transport" of NNSTU performs work on the creation of the universal rescue vehicle. This vehicle is a robot, and intended to reduce the number of human victims in accidents on offshore oil platforms. An actual problem is the development of a method for determining the location of a person overboard in low visibility conditions, when a traditional vision is not efficient. One of the most important sensory robot systems is the acoustic sensor system, because it is omnidirectional and does not require finding of an acoustic source in visibility scope. Features of the acoustic sensor robot system can complement the capabilities of the video sensor in the solution of the problem of localization of a person or some event in the environment. This paper describes the method of determination of the direction of the acoustic source using just one microphone. The proposed method is based on the active perception theory. 1. Topicality Hearing allows us to perceive sounds of various types (music, speech, etc.). The development of the robot, interacting with someone is impossible without an implemented acoustic sensor system. The sensor system of this type is required for the robot, first, to determine the direction of the acoustic source. Usually, in robotic systems, the problem of determination of the direction of the acoustic source is achieved by using two microphones. Taking into consideration the time difference between the arrival of the signal at the microphones, the direction of the acoustic source is estimated. The accuracy of determination of the direction of the acoustic source is limited by the size of the array of microphones. If the array size is small (microphones are located close to each other), it is difficult to determine the direction of the acoustic source accurately. But it is hard to use the arrays of large microphones for small robots. Consequently, the problem of determination of the direction of the acoustic source using just one microphone is quite important. The present work is devoted to solving the problem of monaural localization of the acoustic source direction. There are several solutions to the problem of monaural localization of the acoustic source. The method, described in [1], uses the transfer functions of the head created by using a dummy and statistical speech models, based on the Gaussian mixture model for a particular speaker, to create a set of Gaussian mixture models for speech from various directions. Then, the models obtained at the testing stage are used to determine the direction of the source of speech. In [2], the acoustic source localization is performed using a single microphone or an artificial ear. Acoustic signal y(t), registered by the microphone is represented as a set of some acoustic sources s(t), additive white Gaussian noise w(t) and transfer function hθ(t), depending on the direction of the acoustic source: 1 International Conference on Information Technologies in Business and Industry 2016 IOP Publishing IOP Conf. Series: Journal of Physics: Conf. Series 803 (2017) 012043 doi:10.1088/1742-6596/803/1/012043 International Conference on Recent Trends in Physics 2016 (ICRTP2016) IOP Publishing Journal of Physics: Conference Series 755 (2016) 011001 doi:10.1088/1742-6596/755/1/011001 Content from this work may be used under the terms of the Creative Commons Attribution 3.0 licence. Any further distribution of this work must maintain attribution to the author(s) and the title of the work, journal citation and DOI. Published under licence by IOP Publishing Ltd y(t) = hθ(t) ∗ s(t) + w(t). The calculation of signal decomposition y(t) into the most likely s(t) and hθ(t) is performed in the frequency domain. For it, the hidden Markov models are generated for different audio signals s(t). Simulation hθ(t) for different angles is performed using Gaussian noise recorded from different directions. When using the method, the assessment of angle θ is performed using the maximum likelihood method. 2. Localization in the direction of the acoustic source from the standpoint of the active perception theory 2.

Method of monaural localization of the acoustic source direction from the standpoint of the active perception theory